ABB IRB 6640 User Manual

4 Repair
4.3.2. Replacement of cabling, axis 5 motor
2153HAC026876-001 Revision: F
© Copyright 2007-2010 ABB. All rights reserved.
Refitting, cabling axis 5 motor
The procedure below details how to refit the cabling to the motor of axis 5.
2. Remove the complete wrist unit. Detailed in section:
• IRB 6640:Removal, wrist unit
on page 265.
• IRB 6640ID: Removal, wrist
unit on page 270.
3. Remove the cover of motor, axis 5.
4. Disconnect all connectors at motor, axis 5.
5. Remove the cable gland cover at the cable
exit by unscrewing its two attachment screws.
6. Remove the cable, axis 5.
Action Note
Action Note
1.
DANGER!
Turn off all electric power, hydraulic and
pneumatic pressure supplies to the robot!
For Foundry Prime robots:
Do not turn off the air pressure to motors and
SMB.
2. Reconnect all connectors at motor, axis 5.
3. Refit the cable gland cover at the cable exit
with its two attachment screws.
4. Refit the cover of motor, axis 5.
5. Refit the complete wrist unit. Detailed in section:
• IRB 6640:Refitting, wrist unit
on page 266.
• IRB 6640ID: Refitting, wrist unit
on page 270.
6. Recalibrate the robot. Calibration is detailed in a separate
calibration manual enclosed with the
calibration tools.
General calibration information is
included in the section Calibration
information.
7.
DANGER!
Make sure all safety requirements are met
when performing the first test run. These are
further detailed in the section DANGER - First
test run may cause injury or damage! on page
41.
Continued

ABB IRB 6640 Specifications

General

Brand	ABB
Model	IRB 6640
Category	Robotics
Language	English